version: 66.13
glider: 227
mission: 9
dive: 63
start: 10 3 118 17 51 21
data:
$ID,227
$MISSION,9
$DIVE,63
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,380
$T_MISSION,460
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.07
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72061
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040000002
$HD_B,0.015
$HD_C,3.2e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,160
$PITCH_MAX,3830
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,46
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,310
$ROLL_MAX,3940
$ROLL_DEG,60
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,698
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,3408
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024000001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,4
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,4
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.17668
$PRESSURE_SLOPE,0.00010809835
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,031018,174031,7447.2163,-14519.6582,17,1.1,18,18.7,0.1,0.0,8,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.1
$GPS2,031018,175041,7447.2183,-14519.6025,4,0.6,5,18.7,0.2,7.4,12,3.8
$SPEED_LIMITS,0.150,0.180
$TGT_NAME,AB3
$TGT_LATLONG,7452.500,-14519.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,343.0,9786,-22.1,-8.684,-25.80,1897
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.74,-107.1,149,2844,764,534,0.0,0.0,0,182,0.00,0.00,-169.00,0.002,16390,0.000,0.000,149,2844,3846,3761,3932,0,0,0,0,0,0,14.63,13.70,14.65
$GC,185,-0.74,-107.1,149,2845,3761,3933,4.6,-5.4,17,201,9.45,0.00,0.00,0.000,2054,0.422,0.000,2071,2845,3853,3772,3934,0,0,0,0,0,0,14.31,14.58,14.53
$GC,380,-0.74,-107.1,2071,2845,3791,3928,87.0,-28.1,37,386,0.00,3.60,0.00,0.000,516,0.000,0.046,2087,1596,3861,3791,3932,0,0,0,0,0,0,14.73,14.57,14.75
$GC,611,-0.74,-107.1,2087,1596,3795,3929,134.3,-18.3,83,616,0.00,1.73,0.00,0.000,1030,0.000,0.043,2082,2205,3861,3794,3928,0,0,0,0,0,0,14.69,14.64,14.71
$GC,801,-0.74,-107.1,2082,2206,3797,3926,168.3,-17.7,103,806,0.00,1.77,0.00,0.000,516,0.000,0.046,2087,1596,3861,3797,3926,0,0,0,0,0,0,14.82,14.66,14.83
$GC,1031,-0.74,-107.1,2087,1596,3800,3926,205.9,-15.1,149,1036,0.00,1.73,0.00,0.000,1030,0.000,0.042,2082,2208,3862,3799,3925,0,0,0,0,0,0,14.76,14.71,14.76
$GC,1222,-0.74,-107.1,2081,2209,3802,3925,235.8,-15.3,169,1226,0.00,1.73,0.00,0.000,516,0.000,0.044,2087,1596,3862,3801,3924,0,0,0,0,0,0,14.88,14.72,14.89
$GC,1452,-0.74,-107.1,2087,1595,3803,3925,267.1,-12.3,215,1456,0.00,1.70,0.00,0.000,1030,0.000,0.042,2081,2201,3863,3802,3924,0,0,0,0,0,0,14.81,14.76,14.82
$GC,1762,-0.74,-107.1,2081,2202,3805,3923,300.7,-10.0,232,1767,0.00,1.70,0.00,0.000,516,0.000,0.045,2086,1592,3863,3804,3922,0,0,0,0,0,0,14.97,14.79,14.98
$GC,1867,-0.74,-107.1,2086,1593,3806,3923,310.6,-9.1,253,1872,0.00,1.73,0.00,0.000,1030,0.000,0.043,2081,2206,3863,3805,3922,0,0,0,0,0,0,14.85,14.80,14.87
$GC,2182,-0.74,-107.1,2081,2208,3807,3922,339.8,-9.3,271,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2207,3864,3807,3922,0,0,0,0,0,0,15.00,15.02,15.02
$GC,2482,-0.74,-107.1,2081,2208,3807,3922,366.9,-8.9,286,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2207,3865,3808,3922,0,0,0,0,0,0,15.02,15.03,15.03
$GC,2782,-0.74,-107.1,2081,2209,3807,3922,393.1,-8.6,301,2787,0.00,1.70,0.00,0.000,516,0.000,0.047,2086,1600,3865,3808,3922,0,0,0,0,0,0,15.04,14.86,15.05
$GC,2847,-0.74,-107.1,2086,1601,3809,3924,398.6,-8.4,314,2853,0.00,1.70,0.00,0.000,1030,0.000,0.045,2080,2206,3865,3808,3922,0,0,0,0,0,0,14.92,14.87,14.94
$GC,3163,-0.74,-107.1,2080,2207,3810,3922,425.5,-8.5,332,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2206,3865,3809,3922,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3463,-0.74,-107.1,2080,2207,3811,3922,450.1,-8.1,347,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2206,3866,3810,3922,0,0,0,0,0,0,15.05,15.08,15.07
$GC,3763,-0.74,-107.1,2080,2207,3812,3922,474.0,-7.9,362,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2206,3866,3811,3922,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4063,-0.74,-107.1,2080,2207,3812,3922,497.8,-8.0,377,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2206,3867,3812,3922,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4363,-0.74,-107.1,2080,2207,3812,3922,521.9,-8.0,392,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2206,3867,3812,3922,0,0,0,0,0,0,15.08,15.11,15.10
$GC,4663,-0.74,-107.1,2081,2207,3814,3923,546.1,-8.0,407,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2206,3867,3813,3922,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4963,-0.74,-107.1,2080,2207,3815,3923,569.9,-7.9,422,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2206,3868,3814,3922,0,0,0,0,0,0,15.10,15.12,15.11
$GC,5263,-0.74,-107.1,2080,2207,3816,3923,593.2,-7.7,437,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2206,3869,3815,3923,0,0,0,0,0,0,15.11,15.13,15.13
$GC,5563,-0.74,-107.1,2080,2207,3817,3922,616.2,-7.6,452,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2207,3869,3816,3922,0,0,0,0,0,0,15.11,15.14,15.13
$GC,5863,-0.74,-107.1,2081,2207,3818,3922,638.7,-7.4,467,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2206,3869,3818,3921,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6163,-0.74,-107.1,2080,2207,3819,3922,661.1,-7.5,482,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2206,3870,3818,3922,0,0,0,0,0,0,15.12,15.14,15.14
$GC,6463,-0.74,-107.1,2081,2207,3820,3923,683.2,-7.3,497,6468,0.00,3.58,0.00,0.000,260,0.000,0.071,2064,3467,3870,3819,3921,0,0,0,0,0,0,15.13,14.93,15.14
$GC,6523,-0.74,-107.1,2064,3467,3820,3922,688.3,-8.5,509,6528,0.00,1.58,0.00,0.000,1030,0.000,0.034,2064,2830,3870,3819,3922,0,0,0,0,0,0,15.02,14.99,15.04
$GC,6843,-0.74,-107.1,2064,2828,3822,3922,713.3,-7.8,528,6849,0.00,3.42,0.00,0.000,516,0.000,0.044,2070,1601,3871,3821,3922,0,0,0,0,0,0,15.13,14.95,15.14
$GC,7074,-0.74,-107.1,2070,1600,3824,3922,730.9,-7.7,574,7080,0.00,1.70,0.00,0.000,1030,0.000,0.045,2065,2211,3873,3824,3922,0,0,0,0,0,0,15.02,14.96,15.03
$GC,7385,-0.74,-107.1,2065,2213,3821,3923,755.0,-7.8,591,7390,0.00,1.70,0.00,0.000,516,0.000,0.047,2065,1599,3873,3825,3922,0,0,0,0,0,0,15.13,14.95,15.14
$GC,7540,-0.74,-107.1,2065,1599,3825,3922,767.1,-7.8,622,7547,0.00,1.67,0.00,0.000,1030,0.000,0.045,2059,2202,3874,3826,3922,0,0,0,0,0,0,15.02,14.95,15.03
$GC,7847,-0.74,-107.1,2060,2203,3828,3922,791.0,-8.0,638,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2203,3875,3828,3922,0,0,0,0,0,0,15.07,15.10,15.09
$GC,8145,-0.74,-107.1,2060,2204,3829,3923,815.0,-8.0,653,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2203,3875,3829,3922,0,0,0,0,0,0,15.05,15.07,15.07
$GC,8445,-0.74,-107.1,2059,2203,3830,3923,839.0,-8.0,668,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2203,3875,3829,3922,0,0,0,0,0,0,15.03,15.05,15.05
$GC,8745,-0.74,-107.1,2059,2203,3830,3922,862.9,-8.0,683,8746,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2203,3875,3829,3922,0,0,0,0,0,0,15.02,15.04,15.04
$GC,9045,-0.74,-107.1,2060,2204,3831,3922,886.8,-7.9,698,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2203,3876,3831,3922,0,0,0,0,0,0,15.01,15.03,15.02
$GC,9345,-0.74,-107.1,2060,2204,3832,3922,910.4,-7.9,713,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2202,3877,3832,3922,0,0,0,0,0,0,15.00,15.02,15.02
$GC,9645,-0.74,-107.1,2059,2203,3833,3922,933.6,-7.7,728,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2203,3877,3832,3922,0,0,0,0,0,0,14.99,15.01,15.01
$MODEM_MSG,CACST,6,1,20181003201056.912088,18,171,22,0118,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3A
$MODEM_MSG,CACST,6,1,20181003201552.142968,18,59,17,0105,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*03
$GC,9945,-0.74,-107.1,2059,2203,3833,3922,956.5,-7.6,743,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2203,3877,3833,3922,0,0,0,0,0,0,15.02,15.04,15.03
$GC,10245,-0.74,-107.1,2059,2203,3834,3922,979.0,-7.6,758,10246,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2203,3877,3832,3922,0,0,0,0,0,0,15.04,15.06,15.06
$STATE,10402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10402,begin apogee
$GC,10408,-0.11,0.0,2058,2355,3834,3923,991.1,-7.6,766,10546,0.80,0.00,129.98,1.847,10246,0.230,0.000,2277,2354,3401,3449,3354,0,0,0,0,0,0,14.76,14.26,13.62
$STATE,10547,end apogee,CONTROL_FINISHED_OK
$STATE,10547,begin climb
$GC,10550,0.74,107.1,2277,2355,3451,3354,993.4,0.0,773,10673,0.88,1.83,115.85,2.010,10756,0.123,0.043,2558,1747,2964,3087,2842,0,0,0,0,0,0,14.22,13.89,13.31
$GC,10695,0.74,107.1,2559,1748,3087,2842,985.3,9.7,796,10700,0.00,1.80,0.00,0.000,1030,0.000,0.047,2554,2349,2964,3086,2842,0,0,0,0,0,0,14.16,14.10,14.17
$GC,11010,0.74,107.1,2554,2350,3087,2857,950.5,11.1,814,11016,0.00,3.72,0.00,0.000,260,0.000,0.070,2537,3620,2971,3085,2858,0,0,0,0,0,0,14.64,14.45,14.66
$GC,11096,0.74,107.1,2538,3621,3087,2864,939.6,12.9,831,11101,0.00,1.65,0.00,0.000,1030,0.000,0.026,2544,2969,2974,3086,2863,0,0,0,0,0,0,14.57,14.57,14.59
$GC,11412,0.74,107.1,2545,2970,3087,2880,902.7,11.6,849,11423,0.00,3.47,3.70,0.763,8708,0.000,0.035,2559,1747,2965,3076,2855,0,0,0,0,0,0,14.81,14.64,14.12
$GC,11613,0.74,107.1,2560,1747,3077,2870,880.8,10.7,889,11618,0.00,1.75,0.00,0.000,1030,0.000,0.045,2555,2357,2973,3077,2870,0,0,0,0,0,0,14.74,14.69,14.76
$GC,11933,0.74,107.1,2555,2358,3086,2884,846.2,10.8,908,11943,0.00,3.62,3.58,0.769,8452,0.000,0.069,2539,3616,2966,3075,2858,0,0,0,0,0,0,14.90,14.71,14.20
$GC,12035,0.74,107.1,2539,3617,3076,2864,833.8,12.5,928,12040,0.00,1.58,0.00,0.000,1030,0.000,0.034,2545,2987,2969,3075,2864,0,0,0,0,0,0,14.82,14.78,14.83
$GC,12356,0.74,107.1,2546,2988,3080,2877,796.7,11.4,947,12361,0.00,3.50,0.00,0.000,516,0.000,0.039,2560,1742,2978,3079,2877,0,0,0,0,0,0,14.95,14.79,14.97
$GC,12541,0.74,107.1,2561,1741,3081,2883,776.7,10.6,984,12547,0.00,1.73,2.72,0.611,9222,0.000,0.044,2556,2355,2970,3076,2865,0,0,0,0,0,0,14.87,14.82,14.22
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$FREEZE,61.06,-0.839,-1.647,0,1,0
$STATE,20538,end climb,NO_VERTICAL_VELOCITY
$STATE,20538,begin surface
$SM_CCo,20541,518.03,1.081,0,0,550,701.07
$SM_GC,1.35,8.70,2.12,0.00,0.082,0.024,0.000,145,2828,555,-6.72,32.65,699.84,0,0,0,0,0,0,14.34,14.40,14.40
$RAFOS_CLK,548
$MODEM,3,1538597752,75.50000,-144.13333,52.143,75834.9
$MODEM,2,1538597456,74.08334,-144.88333,56.912,82771.0
$RAFOS_FIX,7448.243652,-14415.724609,031018,202052,2,255,3.57
$IRIDIUM_FIX,7446.64,-14517.25,031018,113858
$TT8_MAMPS,0.039697,0.83139
$HUMID,47.04
$INTERNAL_PRESSURE,8.97882
$TCM_TEMP,14.00
$XPDR_PINGS,0
$SC_FREEKB,3865856
$24V_AH,13.31,35.006
$10V_AH,13.49,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.125,146.075,536.025,518.025,0.000,0.000,0.000,403.400,0.000,0.000,15.053,0.000,16313.265,1329.888,3898.923,389.440,0.000,3103.307,0.000,2622.917,2217.000,0.990,0.000
$DEVICE_MAMPS,422.280,71.145,2009.655,1080.945,0.000,0.000,0.000,211.905,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20578.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.064,0.000,0.000,0.000
$MEM,334484
$DATA_FILE_SIZE,63189,1839
$CAP_FILE_SIZE,194465,0
$CFSIZE,1047117824,1031307264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.0
$GPS,031018,234739,7449.203,-14519.112,15,1.3,15,18.7,0.2,0.0,6,8.8